CN105706545B - Element fixing apparatus - Google Patents

Element fixing apparatus Download PDF

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Publication number
CN105706545B
CN105706545B CN201380080868.0A CN201380080868A CN105706545B CN 105706545 B CN105706545 B CN 105706545B CN 201380080868 A CN201380080868 A CN 201380080868A CN 105706545 B CN105706545 B CN 105706545B
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CN
China
Prior art keywords
head
optical system
unit
inspection
discharge
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CN201380080868.0A
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Chinese (zh)
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CN105706545A (en
Inventor
手岛力茂
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Individual
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Individual
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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/046—Surface mounting
    • H05K13/0469—Surface mounting by applying a glue or viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0433—Connections means having gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0466—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with means for checking exchange completion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Coating Apparatus (AREA)
  • Electric Connection Of Electric Components To Printed Circuits (AREA)

Abstract

In element fixing apparatus, the head that head keeping body is kept can be changed to another head from the head being equipped in the adsorption head that can element be kept and be released the suction nozzle (13) of holding and the discharge head for being equipped with the ejection nozzle that bonding agent can be discharged from outlet automatically.In addition, ozzle camera obtains suction nozzle image data from the suction nozzle 13 for the suction nozzle position (13a~13c) that side shooting is installed on adsorption head in the case where head keeping body keeps adsorption head, using optical system unit (80).Ozzle camera obtains ejection nozzle image data from the ejection nozzle on the central axis that side shooting is located at head keeping body in the case where head keeping body keeps discharge head, using optical system unit (80).Also, element associated inspection is carried out based on suction nozzle image data, discharge association is carried out based on ejection nozzle image data and is checked.

Description

Element fixing apparatus
Technical field
The present invention relates to element fixing apparatus.
Background technique
Conventionally, there is known the element fixing apparatus that the element of holding is installed on substrate.It is installed as such element Device, it is known to suction nozzle be shot to carry out the element fixing apparatus of the inspection of the element of the inspection of suction nozzle or suction (such as patent document 1).In patent document 1, suction nozzle is shot from side, based on the image taken come the absorption of decision element The mistake position of the absorption relative to suction nozzle (deviate) or that whether there is or not the installations of element is abnormal (suction nozzle takes back element).
Additionally, it is known that there is the applying device for applying the coating materials such as bonding agent or solder paste on substrate.As in this way Applying device, it is known to the side of the ozzle of discharge coating material is shot and to check whether has been normally carried out discharge Applying device (such as patent document 2).In patent document 2, it shoots from side and is coated with after coating material on substrate Ozzle front end, whether the attachment surplus for determining the bonding agent of ozzle front end is setting surplus hereinafter, surplus in attachment When surplus is setting surplus or less, it is judged to normally having carried out the discharge of coating material.
Citation
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2008-311476 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2-303570 bulletin
Summary of the invention
Subject to be solved by the invention
However, in the presence of wishing that element fixing apparatus is provided simultaneously with the component holding members and discharge viscous fluid of holding element Drain member is such to be required.In this case, alternatively it is conceivable to the apparatus structure progress recorded using above patent document 1 and element Relevant inspection simultaneously carries out inspection relevant to discharge using apparatus structure described in Patent Document 2.But in this case, Element fixing apparatus has the mechanism from side capturing element holder and the mechanism from side shooting drain member respectively, and there are structures The problem of increasing at the quantity of the component of element fixing apparatus.
The present invention makes in view of such project, and main purpose is to carry out element associated inspection with simpler structure Inspection is associated with discharge.
Solution for solving the problem
Viscous fluid is applied on substrate or pacifies the element kept on substrate by element fixing apparatus of the invention Dress, said elements mounting device have:
Housing unit, stores the more than one head in a variety of heads, and above-mentioned a variety of heads include: that have can be to said elements Kept and released the mounting head of the component holding members of holding, with the drain member that viscous fluid can be discharged from outlet Discharge head；
Head holding unit, keeps above-mentioned head in a manner of it can replace；
Head mobile unit keeps above-mentioned head holding unit mobile；
Head replacement control unit, above-mentioned head mobile unit is controlled and the head that keeps above-mentioned head holding unit with it is upper The head replacement of housing unit storage is stated, the head for thus keeping this holding unit is from above-mentioned mounting head and above-mentioned discharge head One head is changed to another head；
Shooting unit shoots mounting head tool from side in the case where above-mentioned head holding unit keeps above-mentioned mounting head Some said elements holders obtain component holding members image data, in above-mentioned head holding unit keep the feelings of above-mentioned discharge head Under condition, the above-mentioned drain member that the discharge head has is shot from side to obtain drain member image data；And
Inspection unit is carried out and said elements holder and the component holding members based on said elements holder image data The relevant element associated inspection of at least one party in the element of holding is carried out and above-mentioned discharge based on above-mentioned drain member image data Part is associated with inspection with from the relevant discharge of at least one party in the viscous fluid that the outlet of the drain member is discharged.
Element fixing apparatus of the invention keeps a holding unit mobile and makes a head and housing unit for holding unit holding The head of storage is replaced, thus it enables that the head that keeps of head holding unit can be kept to element and be released holding from having The mounting head of component holding members and with can by viscous fluid from the drain member that outlet is discharged discharge head in a head It is changed to another head.In addition, shooting unit is in the case where head holding unit keeps mounting head from side shooting mounting head tool Some component holding members obtain component holding members image data, clap in the case where head holding unit keeps discharge head from side The drain member that discharge head has is taken the photograph to obtain drain member image data.Also, based on the progress of element associated image data and element The relevant element associated inspection of at least one party in element that holder and component holding members are kept, is based on drain member image data It carries out being associated with inspection with drain member and from the relevant discharge of at least one party in the viscous fluid that the outlet of drain member is discharged.This Sample, the head that element fixing apparatus of the invention can keep head holding unit is changed to mounting head and discharge head, and shoots Unit doubles as the mechanism of the drain member of the mechanism and shooting discharge head for the component holding members of shooting mounting head.Therefore, Neng Goutong It crosses simpler structure and obtains component holding members image data and drain member image data, and simpler structure can be passed through It carries out element associated inspection and is associated with inspection with discharge.Here, " viscous fluid " includes bonding agent, solder, solder etc..
In element fixing apparatus of the invention, it is also possible to above-mentioned inspection unit and carries out including whether coating is good Inspection, dropping liquid inspection, drain member check in more than one inspection including above-mentioned discharge be associated with and check, whether above-mentioned coating good Good inspection is based on above-mentioned drain member figure captured after being coated with viscous fluid on aforesaid substrate from above-mentioned drain member The viscous fluid for being present in above-mentioned outlet is detected as data and determines the whether good inspection of above-mentioned coating, it is above-mentioned Dropping liquid inspection is determined based on the above-mentioned drain member image data captured when applying viscous fluid not on aforesaid substrate Whether there is or not the inspection of the dropping liquid of the viscous fluid from above-mentioned outlet, above-mentioned drain member inspection is based on above-mentioned drain member picture number According to determining whether the type of drain member that above-mentioned discharge head has correctly checks.
In element fixing apparatus of the invention, said elements holder can be dismounted by being also possible to above-mentioned mounting head, on Shooting unit is stated with the first optical system, above-mentioned first optical system is adjusted to: being held in above-mentioned discharge head above-mentioned In the state of head holding unit, the above-mentioned drain member having in the discharge head kept of focusing, and in above-mentioned mounting head quilt It is held in the state of above-mentioned head holding unit, is included in the said elements holder being installed in the mounting head kept In the visual field, above-mentioned inspection unit uses above-mentioned drain member image captured by above-mentioned first optical system based on above-mentioned shooting unit Data check to carry out above-mentioned discharge association, use above-mentioned member captured by above-mentioned first optical system based on above-mentioned shooting unit Part holder image data includes checking whether said elements holder is installed on the installation check of above-mentioned mounting head and exists to carry out Interior said elements, which are associated with, to be checked.So, the first optical system is adjusted to focusing in drain member, therefore can be more appropriate Ground carries out discharge association and checks.In addition, the first optical system is adjusted to be also contained in component holding members in the visual field, therefore It can be used in installation check.That is, can be checked in discharge association and share the first optical system in installation check.
In element fixing apparatus of the invention, it is also possible to above-mentioned shooting unit and includes the first optical system, adjusted It is whole to be, in the state that above-mentioned discharge head is held in above-mentioned head holding unit, what focusing had in the discharge head kept Above-mentioned drain member；And second optical system, it is adjusted to, is held in the state of above-mentioned head holding unit in above-mentioned mounting head Under, the said elements holder having in the mounting head kept of focusing, above-mentioned inspection unit, which is based on above-mentioned shooting unit, to be made The above-mentioned drain member image data captured by above-mentioned first optical system checks to carry out above-mentioned discharge association, is based on above-mentioned bat It takes the photograph unit and carries out said elements association inspection using said elements holder image data captured by above-mentioned second optical system It looks into.So, the first optical system is adjusted to focusing in drain member and the second optical system is adjusted to focusing in element Holder, therefore can more suitably carry out discharge association respectively and check and element associated inspection.In addition, not only by the first optics First optical system can also be common to other that do not focus for being adjusted to focus in the shooting of component holding members by system The shooting of object.Second optical system can also be common to the shooting for other objects that do not focus in the same manner.
In element fixing apparatus of the invention, multiple said elements holdings can be dismounted by being also possible to above-mentioned mounting head Part, above-mentioned shooting unit include the first optical system, are adjusted to, and are held in above-mentioned head holding unit in above-mentioned discharge head In the state of, the above-mentioned drain member that has in the discharge head kept of focusing, and be held in above-mentioned mounting head above-mentioned In the state of head holding unit, the component holding members for the first position being installed in the mounting head kept is made to be included in the visual field In；Second optical system, is adjusted to, and in the state that above-mentioned mounting head is held in above-mentioned head holding unit, focuses in position The component holding members of the second positions different from above-mentioned first position in the mounting head kept, above-mentioned inspection unit base Above-mentioned discharge pass is carried out using above-mentioned drain member image data captured by above-mentioned first optical system in above-mentioned shooting unit Joint inspection is looked into, based on above-mentioned shooting unit using said elements holder image data captured by above-mentioned first optical system come into Said elements association of the row including checking in the installation check whether above-mentioned first position is equipped with said elements holder It checks, is carried out based on above-mentioned shooting unit using said elements holder image data captured by above-mentioned second optical system Said elements association including inspection relevant to the element that is kept of component holding members of said second position is located at is examined It looks into.So, the first optical system is adjusted to focusing in drain member, therefore can more suitably carry out discharge association inspection It looks into.Moreover, the first optical system is adjusted to be also contained in component holding members in the visual field, therefore it can also be used to installation inspection It looks into.That is, can be checked in discharge association and share the first optical system in installation check.In addition, the second optical system is adjusted To focus in component holding members, therefore it is able to use the second optical system and more suitably carries out the element kept with component holding members Relevant inspection.
In element fixing apparatus of the invention, it is integrated with the head holding unit to be also possible to above-mentioned shooting unit. So, it is easy to be kept as suitably, being easy by the positional relationship of the head of shooting unit and the holding of head holding unit when shooting Obtain component holding members image data or drain member image data appropriate.In this case, element fixing apparatus of the invention Can have relative position changing unit, which keep above-mentioned shooting unit and above-mentioned head holding unit Head at least one party it is mobile and change the opposite positional relationship of the shooting unit and this.So, for example, It, can be by keeping shooting unit and head when the coating of viscous fluid, when the installation of element and when shooting unit is shot Positional relationship variation for the head that unit is kept etc., and shooting unit and head is made to become positional relationship appropriate corresponding with situation.
Detailed description of the invention
Fig. 1 is the integrally-built explanatory diagram for indicating component mounting system 1.
Fig. 2 is the perspective view of head unit 110.
Fig. 3 be under obliquely upward viewing head keeping body 21 when perspective view.
Fig. 4 is the perspective view of ozzle camera 124.
Fig. 5 is the perspective view that head 220 is discharged.
Fig. 6 is the suction nozzle 13 for the adsorption head 120 for indicating that a keeping body 21 is kept and the positional relationship of optical system unit 80 Schematic diagram.
Fig. 7 is the ejection nozzle 14 for the discharge head 220 for indicating that a keeping body 21 is kept and the position pass of optical system unit 80 The schematic diagram of system.
Specific embodiment
Hereinafter, referring to attached drawing, the preferred embodiment of the present invention will be described.Fig. 1 is to indicate component mounting system 1 Integrally-built explanatory diagram.In addition, in the present embodiment, left and right directions (X-axis), front-rear direction (Y-axis) and up and down direction (Z axis) is as shown in Figure 1.
[structure of component mounting system 1]
Component mounting system 1 has: element fixing apparatus 100 and management computer 200.
As shown in Figure 1, element fixing apparatus 100 has: being equipped on the base board delivery device 104 of base station 102；It can be in XY The head unit 110 moved in plane；It is installed on the adsorption head 120 of head unit 110 in a detachable manner；From side (front) Shoot the ozzle camera 124 of the ozzles such as suction nozzle 13；For storing the head accepting regions 140 of various heads；It is installed for being given to substrate 101 Element component supplying apparatus 150；And execute the controller 160 of various controls.
Base board delivery device 104 passes through the conveyer belt 108,108 for being respectively arranged in a pair of support plate 106,106 in front and back (folk prescription is only illustrated in Fig. 1) and substrate 101 is conveyed from left to right.
Head unit 110 is installed on X-axis sliding part 112, and with X-axis sliding part 112 along guide rail 114,114 in right and left Move up and move in the lateral direction, moved in the longitudinal direction along guide rail 118,118 with Y-axis sliding part 116 and It moves in the longitudinal direction.Therefore, head unit 110 can move on X/Y plane.Each sliding part 112,116 is respectively by not shown Servomotor driving.
Adsorption head 120 is installed on head unit 110 in a detachable manner.Element is adsorbed in by suction nozzle 13 using pressure Ozzle front end is detached from the element for being adsorbed in ozzle front end.Suction nozzle 13 is equipped with 12 on adsorption head 120.
Head accepting regions 140 are set on the right side of the upper surface of base station 102, are had multiple for storing adsorption head 120, discharge head 220 storage place 142.It is accommodated with discharge head 220 in the storage place of front side, but the storage place 142 of rear side is empty State.
It is removable relative to head unit 110 that head 220 is discharged.An ejection nozzle 14 is installed on discharge head 220.Ejection nozzle 14 the bonding agent for element to be adhered to substrate 101 is discharged using pressure and from the outlet of ozzle front end.
Component supplying apparatus 150 is installed on the front of element fixing apparatus 100.The component supplying apparatus 150 has multiple Slot, loader 152 are inserted into each slot.Tep reel 154 is installed in loader 152, tep reel 154 is wound with band.? The surface of band maintains element with the state arranged along the length direction of band.Said elements are protected by the film on the surface of covering band Shield.Such band is rearward sent out by chain-wheel mechanism (not shown), with film is peeled and element expose state be configured in it is pre- Positioning is set.Predetermined position is that suction nozzle 13 can be to the position that the element is adsorbed.The suction of element has been adsorbed in the predetermined position The element can be installed on the chosen position on substrate 101 by mouth 13.
In addition, element fixing apparatus 100 has ozzle reservoir 134 etc..Ozzle reservoir 134 is a variety of suction nozzles 13 of storage Or the case of a variety of ejection nozzles 14, configuration is on 150 side of component supplying apparatus.Suction nozzle 13 is replaced by the base for being suitable for installation elements The suction nozzle of the type of the type and element of plate.Ejection nozzle 14 is replaced by the amount for being suitable for the bonding agent of discharge (on substrate 101 The diameter of the bonding agent of coating) diameter ejection nozzle.
Controller 160 has: executing the ROM164 of CPU162, storage control program of various controls etc., is used as making The HDD168 of the data of the RAM166 and storage large capacity in industry region, their not shown buses connections.Controller 160 and base Plate conveying device 104, X-axis sliding part 112, Y-axis sliding part 116 and head unit 110 are in a manner of the exchange for being able to carry out signal Connection.
Managing computer 200 is the computer being managed to the production task of substrate 101, is stored with operator's generation Production task data.Production task data determine in element fixing apparatus 100 from the loader of which slot position by which Substrate 101 made of several such installations etc. is installed and made to element to the substrate 101 of which substrate type in what order.Separately Outside, production task data be further identified as by each element of installation to substrate 101 be bonded and which position on the substrate 101 with Which kind of sequentially applies the bonding agent etc. how much measured.The controller 160 of computer 200 and element fixing apparatus 100 is managed with can The mode for carrying out two-way communication connects.
Here, head unit 110 is illustrated in detail.Fig. 2 is the solid for having removed the head unit 110 of state of cover Figure is specifically the perspective view of the state after declining adsorption head 120 relative to the R axis 22 of head keeping body 21.Fig. 3 be from Under obliquely upward to ground viewing head keeping body 21 when perspective view, Fig. 4 be from upper oliquely downward to from ground when adsorption head 120 Perspective view.Fig. 4 is the perspective view of ozzle camera 124.
Head unit 110 has: head keeping body 21, adsorption head 120, ozzle camera 124.
Head keeping body 21 is installed on the 112 (reference of X-axis sliding part in a manner of it can go up and down by elevating mechanism (not shown) Fig. 1).This keeping body 21 has cricoid R shaft gear 24 on top, has columned R axis 22 in lower part.R shaft gear 24 It is driven and rotated by R axis motor 25, integrally rotated with R axis 22.R axis 22 has multiple engaging parts 31 (in this embodiment party It is four in formula), engaging part 31 has hook in lower end.The direction of hook is aligned to identical as the direction that R axis 22 rotates forward.It is above-mentioned Engaging part 31 equally spaced configures on the same circumference of the lower surface of R axis 22 (center of the circle and the central axis one of R axis 22 It causes).In addition, each engaging part 31 can be moved up and down by cylinder (not shown).
Adsorption head 120 is that appearance is generally cylindrical component, and having more in lower section (is in the present embodiment 12 Root) suction nozzle 13.Suction nozzle 13 is integrated with the suction nozzle bracket 12 vertically extended.Suction nozzle bracket 12 has suction near upper end Mouth operating stick 39 is exerted a force upwards by spring 40 and is located in scheduled fixed position (top position).Suction nozzle operating stick 39 According to the sequence of operation suction nozzle 13, there are first suction nozzle operating sticks 39 (A) to the last one (the 12nd) suction nozzle operating stick 39 (L).From first along counting up to the last one counterclockwise when this is sequentially set as from the top from Fig. 2.When suction nozzle operating stick 39 when being pressed, and suction nozzle bracket 12 and suction nozzle 13 overcome the elastic force of spring 40 and decline, when relieve suction nozzle operating stick 39 by When lower, suction nozzle bracket 12 and suction nozzle 13 return to fixed position by the elastic force of spring 40.In addition, head keeping body 21, which will have, to inhale The suction nozzle operating stick (not shown) that mouth operating stick 39 is pressed in downward direction is by lower part.The suction nozzle operating stick is installed on by lower part not to be schemed The the first Z axis sliding part shown drive moving up and down by not shown servomotor to the first Z axis sliding part. By suction nozzle operating stick the moving up and down by lower part, pressed to press suction nozzle operating stick 39 and release this.
In addition, adsorption head 120 has the background body 44 of the lower direction cylindrical shape outstanding from bottom to Fig. 2 (referring to aftermentioned Fig. 6).The central axis of background body 44 is consistent with the central axis of circle-shaped arrangement of the central axis of R axis 22 and 12 suction nozzles 13. It is coated with such as fluorescent paint in the outer peripheral surface of background body 44, the light source 81 from ozzle camera 124 can be received (referring to figure 4) ultraviolet light and shine.
In addition, adsorption head 120 has the cylinder space for being inserted into R axis 22.In the inside of the cylinder space, not shown Discoid matrix on be formed with multiple (being in the present embodiment four) connecting holes.The engaging of the connecting hole and R axis 22 The hook of component 31 engages, and thus head keeping body 21 is able to maintain adsorption head 120.
Ozzle camera 124 is installed on head unit 110.As shown in figure 4, ozzle camera 124 has: main body frame 90, Support shaft 92, camera main-body 94 and optical system unit 80.Main body frame 90 and support shaft 92 be installed on head unit 110 and with head 21 integration of keeping body.Ozzle camera 124 is with the movement in the direction XY of head unit 110 (head keeping body 21) and in XY as a result, It is moved on direction.In addition, the lifting of head keeping body 21 can independently be carried out with ozzle camera 124, thus, it is possible to adjust head to protect Hold upper and lower position of the head (adsorption head 120 or discharge head 220) of the holding of body 21 with the optical system unit 80 of ozzle camera 124 Relationship.Camera main-body 94 is installed on main body frame 90, has lens (not shown), capturing element, image processing part etc..Optical system System unit 80 is installed on main body frame 90 and support shaft 92.Multiple light sources are installed on the face of the rear side of optical system unit 80 81。
The internal structure of optical system unit 80 is illustrated.In Fig. 2, the optical system unit 80 in Fig. 4 is indicated The state for having removed upper cover 80a.As shown in Fig. 2, optical system unit 80 has: (being installed on a keeping body 21 towards rear Head where direction) opening middle entrance port 83a, left entrance port 83b, right entrance port 83c and each entrance port 83a of covering~ Transparent middle cover 84a, the left cover 84b, right cover 84c of 83c.In addition, optical system unit 80 has therefrom entrance port 83a, a left side Entrance port 83b, right entrance port 83c distinguish middle optical system 82a, the left side that incident light is guided to the capturing element of camera main-body 94 Optical system 82b, right optical system 82c.Middle optical system 82a has reflecting mirror 86a etc..The therefrom light of entrance port 83a incidence Camera main-body 94 is directed to via reflecting mirror 86a.Left optical system 82b has reflecting mirror 86b, prism 85b, reflecting mirror 86a (being shared with middle optical system 82a) etc..From the light of left entrance port 83b incidence in reflecting mirror 86b, prism 85b, reflecting mirror 86a In successively reflect or penetrate and be directed to camera main-body 94.Right optical system 82c has reflecting mirror 86c, prism 85c, reflection Mirror 86a (being shared with middle optical system 82a) etc..From the light of right entrance port 83c incidence in reflecting mirror 86c, prism 85c, reflecting mirror It is successively reflected in 86a or penetrates and be directed to camera main-body 94.In addition, between prism 85b and prism 85c in left-right direction Gap is formed, the light from middle entrance port 83a reaches reflecting mirror 86a by the gap.The capturing element of camera main-body 94 is logical Therefrom optical system 82a, left optical system 82b, right optical system 82c is crossed to receive light and generate charge.The figure of camera main-body 94 As processing unit inputs the charge generated by capturing element, and image data of the generation based on the charge.
Next, being illustrated to discharge head 220.Fig. 5 is the perspective view that head 220 is discharged.Discharge head 220 shown in fig. 5 It is accommodated in an accepting regions 140 (referring to Fig.1).Discharge head 220 has: cylindric main part 70, has viscous in inside storage Connect the receiving room of agent；Matrix 36 is installed on the top of the main part 70 in Fig. 5.Lower part of the main part 70 in Fig. 5 has one Ejection nozzle 14.Matrix 36 has multiple connecting holes 37.In addition, in the pressure for being centrally formed with matrix 36 up and down of matrix 36 Supply mouth 38.Positive pressure or negative pressure can be supplied to pressure supply mouth 38 via head keeping body 21.In addition, pressure supply mouth 38, Receiving room, the ejection nozzle 14 of main part 70 are connected to.Therefore, when supplying positive pressure to pressure supply mouth 38, made by the pressure The indoor bonding agent of storage of main part 70 is discharged from the outlet of ejection nozzle 14.In addition, negative when being supplied to pressure supply mouth 38 When pressure, the bonding agent of the outlet of ejection nozzle 14 is attracted to receiving room side, inhibits discharge of the bonding agent from ejection nozzle 14.Separately Outside, 37 phase of matrix 26 and connecting hole of the shape of the matrix and connecting hole (not shown) of above-mentioned adsorption head 120 and discharge head 220 Together.
In addition, being equipped with the curved background board 72 of outer peripheral surface along main part 70 on the main part 70 of discharge head 220. Coated with such as fluorescent paint on the inner peripheral surface (face of 14 side of ejection nozzle) of background board 72, receives and come from ozzle camera 124 Light source 81 ultraviolet light and can shine.The background board 72 is installed on guiding groove 76,76 by protruding portion (not shown), draws Guide groove 76,76 axially (up and down direction of Fig. 5) is formed in the outer peripheral surface of main part 70.Background board 72 can be along as a result, Guiding groove 76,76 is axially moveable.In addition, background board 72 has background board operating stick 74 in upper end, by guiding groove 76,76 Spring (not shown) exerts a force upwards and is located in scheduled fixed position (dotted line position of Fig. 5).When background board operating stick 74 when being pressed, and background board 72 overcomes the elastic force of spring and drops to the position opposite with ejection nozzle 14 (solid line position of Fig. 5). In addition, when relieving when pressing of background board operating stick 74, background board 72 returns to fixed position by the elastic force of spring.Separately Outside, head keeping body 21 has the background board operating stick (not shown) for pressing background board operating stick 74 in downward direction by lower part.The back Scape plate operating stick is installed on the second Z axis sliding part (not shown) by lower part, by not shown servomotor to the second Z axis Sliding part is driven and is moved up and down.By background board operating stick the moving up and down by lower part, to press background board operation Bar 74 releases this and presses.
Here, the optical system unit 80 and the positional relationship of the ozzle of each head to ozzle camera 124 are illustrated.Fig. 6 It is the suction nozzle 13 and the schematic diagram of the positional relationship of optical system unit 80 of the adsorption head 120 for indicating that a keeping body 21 is kept.Fig. 7 It is the ejection nozzle 14 and the schematic diagram of the positional relationship of optical system unit 80 of the discharge head 220 for indicating that a keeping body 21 is kept. In addition, Fig. 6, Fig. 7 indicate the cross-sectional view vertical with Z axis.Go up and down a keeping body 21 in addition, Fig. 6, Fig. 7 are illustrated respectively, so as to inhale Mouth 13, ejection nozzle 14 are located at height opposite with optical system unit 80 and that ozzle camera 124 can shoot each ozzle The state of position (camera site).
In the present embodiment, middle optical system 82a is adjusted to substantially focusing in the central axis (=institute of head keeping body 21 The central axis of the adsorption head 120 of holding).Therefore, as shown in fig. 6, when head keeping body 21 keeps adsorption head 120, adsorption head 120 12 suction nozzles 13 in as positioned at the position of the front (rear) of middle entrance port 83a, nearest suction nozzle 13 (hereinafter, will The position is known as suction nozzle position 13a) it is contained in the visual field of middle optical system 82a.Although ozzle camera 124 is not focused as a result, In the suction nozzle 13 of suction nozzle position 13a, but (and suction of suction nozzle 13 of suction nozzle position 13a can be also shot via middle optical system 82a The element that mouth 13 adsorbs).In addition, left entrance port 83b, right entrance port 83c are adjusted to focus in a left side of suction nozzle position 13a respectively The position (hereinafter, above-mentioned position is referred to as suction nozzle position 13b, suction nozzle position 13c) of right adjacent suction nozzle 13.It manages as a result, Mouth camera 124 can be in the state of having focused via (and suction of suction nozzle 13 of left optical system 82b shooting suction nozzle position 13b Mouth 13 adsorb element), in the state of having focused via right optical system 82c shooting suction nozzle position 13c suction nozzle 13 (and should The element that suction nozzle 13 adsorbs).In addition, in the present embodiment, middle optical system 82a, left optical system 82b, right optical system 82c shares reflecting mirror 86a, thus via middle optical system 82a, left optical system 82b, right optical system 82c and incidence light Summarize and is received by the capturing element of camera main-body 94.Ozzle camera 124, which obtains, as a result, indicates to be based on via middle optical system Each image configurations of the light of 82a, left optical system 82b, right optical system 82c figure made of center, left side, right side The image data of picture.Therefore, when being shot with the state of Fig. 6, the figure of the suction nozzle 13 for the suction nozzle position 13a not focused is obtained Suction nozzle 13 as being configured at center, the suction nozzle position 13b to have focused is configured at the suction nozzle in left side, the suction nozzle position 13c to have focused 13 are configured at an image data (hereinafter referred to as suction nozzle image data) made of right side.It is inhaled in addition, being located at by background body 44 The visual field of optical system 82a, left optical system 82b, right optical system 82c in the rear of mouth position 13a~13c and adjustment, and It can be avoided the suction nozzle 13 that the shooting in suction nozzle image data has the other positions other than the 13a~13c of suction nozzle position.In addition, logical Crossing R axis motor 25 rotates R axis, and thus 12 suction nozzles 13 are rotated centered on the central axis of head keeping body 21.Therefore, can Arbitrary 3 suction nozzles continuous in a circumferential direction in 12 suction nozzles 13 are shot by ozzle camera 124.
On the other hand, as shown in fig. 7, ejection nozzle 14 is located at discharge head 220 when head keeping body 21 keeps discharge head 220 Central axis near.Ozzle camera 124 can shoot ejection nozzle via middle optical system 82a in the state of having focused as a result, 14 (and bonding agents of the outlet of ejection nozzle 14).In addition, it is located at the rear of ejection nozzle 14 by background body 44, and left optical system Unite 82b, right optical system 82c the visual field in only include background board 72.Therefore, it when being shot with the state of Fig. 7, obtains Image configurations image data made of center (hereinafter referred to as ejection nozzle image data) of the ejection nozzle 14 of focusing.
In addition, ozzle camera 124 irradiates ultraviolet light to background body 44 or background board 72 by light source 81, background body 44 is utilized Or the luminous of background board 72 is shot.As a result, in suction nozzle image data, 44 part of background body becomes light ground, makees Suction nozzle 13 etc. for suction nozzle position 13a~13c of reference object shows darker.Equally, in ejection nozzle image data, background 72 part of plate becomes light ground, and the ejection nozzle 14 etc. as reference object is shown as darker image.
[movement of component mounting system 1-adhesive applicating processing]
Next, being based on receiving from management computer 200 to the CPU162 of the controller 160 of element fixing apparatus 100 Production task data and using head unit 110 carry out adhesive applicating processing movement be illustrated.CPU162 is kept in head In the state that body 21 maintains discharge head 220, based on the production task data received from 200, being repeated makes head unit The adhesive applicating processing of the bonding agent of 110 coating predetermined amounts in predetermined position mobile and on substrate 101.It is applied in the bonding agent Apply processing in, not from ejection nozzle 14 be discharged bonding agent during in, CPU162 to pressure supply mouth 38 supply negative pressure and inhibit Dropping liquid of the bonding agent from ejection nozzle 14.Such as it is moved on the substrate 101 for next applying bonding agent in ejection nozzle 14 During until predetermined position, CPU162 inhibits the dropping liquid from ejection nozzle 14.Also, when ejection nozzle 14 is moved to predetermined position When, CPU162 declines a keeping body 21 and makes ejection nozzle 14 close to substrate 101, to pressure supply mouth 38 supply positive pressure and from Bonding agent is discharged in ejection nozzle 14, and bonding agent is applied to predetermined position.It is being bonded in addition, CPU162 is based on production task data Agent coating suitably makes that the top that head 220 is moved to ozzle reservoir 134 is discharged at the beginning of handling, to carry out ejection nozzle 14 Replacement, so that discharge head 220 installs the ejection nozzle 14 of type appropriate.In addition, being bonded in adhesive applicating processing in coating When agent or when replacement ejection nozzle 14, CPU162 makes a keeping body 21 drop to the position lower than camera site.Therefore, the pipe in front Mouth camera 124 will not interfere adhesive applicating to handle.
[movement of component mounting system 1-discharge association checks]
In addition, CPU162 carries out discharge association inspection using ozzle camera 124 during carrying out adhesive applicating processing It looks into.In the present embodiment, CPU162 carries out ejection nozzle inspection, dropping liquid inspection, whether good inspection is closed as discharge for coating Joint inspection is looked into.Ejection nozzle inspection is to determine whether the type for being installed on the ejection nozzle 14 of discharge head 220 correctly checks, is carried out just It is executed after the replacement of ejection nozzle 14 by CPU162.In ejection nozzle inspection, CPU162 first goes up and down a keeping body 21 To above-mentioned camera site.Next, CPU162 declines background board 72 and obtains from side to shoot row obtained from ejection nozzle 14 Mouth image data out.Next, CPU162 determined based on ejection nozzle image data the ejection nozzle 14 taken type whether Suitably.In the present embodiment, it is set as being determined based on the bore (the left and right width in image data) of ejection nozzle 14.? When the type of ejection nozzle 14 is incorrect, CPU162 carries out the replacement of ejection nozzle 14 again and repeats above-mentioned shooting and judgement. Also, when the type of ejection nozzle 14 is correct, CPU162 terminates ejection nozzle inspection.
Next, being illustrated to dropping liquid inspection.Dropping liquid inspection is to determine whether gluing for the outlet from ejection nozzle 14 Connect the inspection of the dropping liquid of agent.The dropping liquid inspection is moved on the substrate 101 for next applying bonding agent in ejection nozzle 14 It waits during until predetermined position in during the coating without bonding agent, is executed by CPU162.In ejection nozzle inspection, CPU162 obtains ejection nozzle image data identically as ejection nozzle inspection first.Next, CPU162 is based on ejection nozzle picture number According to come the dropping liquid that determines whether the outlet from ejection nozzle 14.In the present embodiment, be set as CPU162 to be present in discharge Whether the size (such as length of up and down direction) of the darker image (=hydrops) of the lower section of the outlet of mouth 14 is predetermined threshold Value is above to be determined.Also, when more than for predetermined threshold, CPU162 is determined as that the hydrops of bonding agent is larger and there are dropping liquids A possibility that (=produce dropping liquid or generation dropping liquid, is higher), interrupt dropping liquid inspection and adhesive applicating processing.Work as break bonding When agent coating processing, such as to operator's notification, there are dropping liquids by picture or sound etc. by CPU162, and make to be discharged head 220 from base Keep out of the way on plate 101.Confirmed notification operator on having carried out ejection nozzle 14 or substrate 101 bonding agent of dropping liquid it is clean On the basis of, element fixing apparatus 100 is indicated to re-start adhesive applicating processing.On the other hand, sentence in CPU162 When being set to the size of hydrops less than predetermined threshold, directly terminate dropping liquid inspection.In addition, CPU162 is for example at predetermined time intervals repeatedly Execute such dropping liquid inspection.
Next, being illustrated to the whether good inspection of coating.Coating whether it is good inspection be determine bonding agent to The whether good inspection of the coating of substrate 101.Whether the coating good check bonding agent is discharged from ejection nozzle 14 and to pre- Positioning is set and is coated with after bonding agent, and it is next to have supplied negative pressure to ejection nozzle 14, is executed by CPU162.The ejection nozzle inspection in addition to Other than the opportunity of execution is different, other are carried out identically as above-mentioned dropping liquid inspection.In the bonding agent based on ejection nozzle 14 to substrate In the case where 101 coating bad (coating amount of bonding agent is insufficient), it can many times be generated in the outlet of ejection nozzle 14 Hydrops.Therefore, CPU162 identically as dropping liquid inspection, the hydrops of the lower section of the outlet of ejection nozzle 14 is present in by judgement Whether size is predetermined threshold or more, and whether the coating to determine bonding agent is good.In addition, being determined as bonding agent in CPU162 When applying bad, CPU162 can carry out coating of the bonding agent to predetermined position again, can also report coating not to operator It is good.In addition, whether in dropping liquid inspection and coating in good inspection threshold value may be the same or different.
[replacement is handled movement-head of component mounting system 1 automatically]
Next, being based on receiving from management computer 200 to the CPU162 of the controller 160 of element fixing apparatus 100 Production task data and the movement of automatically replacing head be illustrated.Carrying out adhesive applicating processing and element installation place When carrying out another processing after one in reason processing etc., CPU162 the scheduled head based on production task data automatically more It changes opportunity, carrying out head, replacement is handled automatically.In head automatically replacement processing, CPU162 receives the movement of head unit 110 to the end The surface in the empty storage place 142 received in region 140, makes a keeping body 21 decline and be accommodated in the head currently kept Receive place 142.Then, CPU162 is detached from after the connecting hole of kept head in the hook for making engaging part 31, makes a keeping body 21 rise.Next, the surface for the head that CPU162 is moved to head unit 110 as replacement object.Then, CPU162 makes head Keeping body 21 declines, and engages engaging part 31 and the connecting hole of the head as replacement object, and terminating head, replacement is handled automatically.By This, keeps the head as replacement object by head keeping body 21.In this way, CPU162 is carried out from adsorption head 120 and discharge head 220 A direction another party replacement.
[movement of component mounting system 1-element installation process]
Next, being based on receiving from management computer 200 to the CPU162 of the controller 160 of element fixing apparatus 100 Production task data, to utilize head unit 110 to be illustrated to the element installation process of 101 installation elements of substrate.It is set as Adsorption head 120 is installed on head unit 110.In element installation process, CPU162 first adsorbs the suction nozzle 13 of adsorption head 120 Element.Specifically, firstly, CPU162 moves head unit 110 on the direction XY, and first suction nozzle 13 is made to be moved to absorption The predetermined position of element.Next, CPU162 declines a keeping body 21, and presses suction nozzle operating stick 39 and make first suction nozzle 13 declines, and carry out absorptive element to the front end of suction nozzle 13 supply negative pressure.Then, pressing and making first for suction nozzle operating stick 39 is released A suction nozzle 13 rises.Same movement is also repeated in second later suction nozzle 13, can make first to last one The whole absorptive elements of a suction nozzle 13.When the absorption of element is completed, CPU162 moves head unit 110 on the direction XY, makes to inhale Suction nozzle 13 with the element as mounting object is moved to the top of the installation site of installation elements.Also, CPU162 makes head Keeping body 21 declines and presses suction nozzle operating stick 39 and decline suction nozzle 13, releases the negative pressure of suction nozzle 13 and element is installed to base On plate 101.Then, increase suction nozzle 13.The movement being in this way installed on an element on substrate 101 is repeated in CPU162, And the whole elements for adsorbing the suction nozzle of adsorption head 120 13 are installed on substrate 101.Also, CPU162 is repeated such Carry out the element installation process of absorption and the installation on substrate 101 of element.In addition, CPU162 be based on production task data and So that adsorption head 120 is moved to the top of ozzle reservoir 134 at the beginning of element installation process, and carries out suction nozzle 13 Replacement so that adsorption head 120 installs the suction nozzle 13 of type appropriate.CPU162 presses suction nozzle behaviour identically as the absorption of element Make bar 39 and decline suction nozzle 13 one by one, to carry out the replacement of suction nozzle 13.In addition, when to 13 absorptive element of suction nozzle, to substrate On 101 when installation elements, when replacement suction nozzle 13, CPU162 declines suction nozzle 13 using suction nozzle operating stick 39.Therefore, above-mentioned In the case of, the ozzle camera 124 in front, which will not become, to be interfered.
[movement of component mounting system 1-element associated inspection]
In addition, CPU162 carries out element associated inspection during carrying out element installation process, using ozzle camera 124. In the present embodiment, CPU162 carries out installation check, element adsorption state inspection as element associated inspection.Installation check is Determine the inspection that suction nozzle 13 whether is equipped on adsorption head 120, when head keeping body 21 replaces a suction nozzle 13, by CPU162 is executed.In the installation check, CPU162 makes the lifting of a keeping body 21 to above-mentioned camera site first.Next, CPU162 obtains the suction nozzle image data that ozzle camera 124 is shot.Next, CPU162 determined based on suction nozzle image data be The no suction nozzle 13 for being equipped with suction nozzle position 13a.CPU162 is for example darker based on whether there is in the center of suction nozzle image data Image etc., to determine whether to be mounted with and (whether there is) suction nozzle 13 of suction nozzle position 13a.Also, CPU162 works as and is determined as not When the suction nozzle 13 of suction nozzle position 13a is installed, regards the replacement failure of previous suction nozzle 13 as, carried out again from ozzle reservoir 134 The installation of suction nozzle 13, and repeat above-mentioned shooting and judgement.Also, CPU162 works as and is judged to being equipped with suction nozzle position 13a's When suction nozzle 13, terminate installation check.When replacing multiple suction nozzles 13, the replacement and installation of a suction nozzle 13 is repeated in CPU162 It checks.
Next, being illustrated to element adsorption state inspection.Element adsorption state inspection is to determine that suction nozzle 13 adsorbs The inspection of the adsorbed state of element whether good (whether there is or not the postures of the element of the absorption of element and absorption good).The element Adsorbed state inspection is executed by CPU162 all to have adsorbed elements from first to the last one suction nozzle 13 next.In this yuan During part adsorbed state checks, CPU162 shoots suction nozzle position 13a~13c first to obtain suction nozzle image data.Next, CPU162 determines whether the adsorbed state of the suction nozzle 13 of suction nozzle position 13b, 13c is good based on suction nozzle image data.It is specific and Speech, the size and location etc. of darker image of the CPU162 based on suction nozzle image data, to determine that suction nozzle position 13b, 13c's is complete The front end of portion's suction nozzle 13 whether there is element, and in case of presence, determine the element posture (inclination etc.) whether Well.There are more than one, there is no the appearances of the suction nozzle of element or element in the suction nozzle 13 for being determined as suction nozzle position 13b, 13c When the undesirable suction nozzle of gesture, CPU162 makes the absorption for carrying out element again as the suction nozzle 13 of object, and repeats above-mentioned shooting And judgement.Also, CPU162 makes R axis 22 when being determined as that the adsorbed state of whole suction nozzles 13 of suction nozzle position 13b, 13c are good It rotates and unchecked suction nozzle 13 is made to be moved to suction nozzle position 13b, 13c, above-mentioned shooting and judgement is repeated.CPU162 is being incited somebody to action When whole suction nozzles 13 of adsorption head 120 are determined as that adsorbed state is good, terminate element adsorption state inspection.In addition, being inhaled in element In attached status checkout, the suction nozzle 13 for the suction nozzle position 13a not focused is not checked.Therefore, in the present embodiment, CPU162 checks two suction nozzles 13 every time in element adsorption state inspection.
Here, the corresponding relationship of the constituent element of clear present embodiment and constituent element of the invention.Present embodiment Suction nozzle 13 be equivalent to component holding members of the invention, adsorption head 120 is equivalent to mounting head, and ejection nozzle 14 is equivalent to drain member, Discharge head 220 is equivalent to discharge head, and head accepting regions 140 are equivalent to housing unit, and head keeping body 21 is equivalent to a holding unit, X-axis sliding part 112 and Y-axis sliding part 116 are equivalent to a mobile unit, and CPU162 is equivalent to head replacement control unit and checklist Member, suction nozzle image data are equivalent to component holding members image data, and ejection nozzle image data is equivalent to drain member image data, pipe Mouth camera 124 is equivalent to shooting unit.In addition, middle optical system 82a is equivalent to the first optical system, left optical system 82b and Right optical system 82c is equivalent to the second optical system.In addition, the elevating mechanism (not shown) for going up and down a keeping body 21 is equivalent to Relative position changing unit.
According to the element fixing apparatus 100 of present embodiment discussed above, keeps a keeping body 21 mobile and protect head The head for holding the head of the holding of body 21 and storage place 142 storage of head accepting regions 140 is replaced, and thus, it is possible to by head keeping body 21 heads kept are from being equipped with the adsorption head 120 that can be kept and be released the suction nozzle 13 of holding to element and be equipped with can Another head is changed to from the head in the discharge head 220 of the ejection nozzle 14 of outlet discharge bonding agent.In addition, ozzle camera 124 shoot (the suction nozzle position of suction nozzle 13 for being installed on adsorption head 120 in the case where head keeping body 21 keeps adsorption head 120 from side Set the suction nozzle 13 of 13a~13c) obtain suction nozzle image data.Ozzle camera 124 keeps discharge head 220 in head keeping body 21 In the case of, from side, shooting is installed on the ejection nozzle 14 of discharge head 220 to obtain ejection nozzle image data.Also, it is based on suction nozzle Image data carries out element associated inspection, carries out discharge association based on ejection nozzle image data and checks.In this way, present embodiment The head that head keeping body 21 is kept can be changed to adsorption head 120 and discharge head 220, and ozzle camera by element fixing apparatus 100 124 as the mechanism for the mechanism for shooting the suction nozzle 13 of adsorption head 120 and the ejection nozzle 14 for shooting discharge head 220.Therefore, with point It She Zhi not be compared the case where Liang Ge mechanism, suction nozzle image data and ejection nozzle image data can be obtained with simpler structure, It is further able to be associated with inspection with discharge with the progress element associated inspection of simpler structure.
In addition, CPU162 carry out including coating whether good inspections, dropping liquid inspection, drain member check including discharge pass Joint inspection is looked into, and the whether good inspection of above-mentioned coating is to be based on being coated on substrate 101 after bonding agent from ejection nozzle 14 being clapped The ejection nozzle image data taken the photograph come the bonding agent for being present in outlet is detected and determine coating whether good inspection, on State dropping liquid inspection be based on when applying bonding agent not on substrate 101 captured ejection nozzle image data come determine whether come From the inspection of the dropping liquid of the bonding agent of outlet, above-mentioned drain member inspection is to determine the row of being installed on based on ejection nozzle image data Whether 220 type of ejection nozzle 14 of lifting one's head correctly checks.
In addition, middle optical system 82a is adjusted to focusing in ejection nozzle 14, therefore it can more suitably carry out discharge association It checks.In addition, middle optical system 82a is adjusted to for the suction nozzle 13 for being installed on the suction nozzle position 13a of adsorption head 120 being also contained in In the visual field, therefore it also can be used in installation check.That is, can be checked in discharge association optical system shared by with installation check 82a.In addition, only checking for suction nozzle 13, therefore even if using dependent on the middle optical system that do not focus in installation check The image data of the light of 82a is also able to carry out inspection.
In addition, left optical system 82b and right optical system 82c are adjusted to focus in the suction nozzle of suction nozzle position 13b, 13c 13, therefore can more suitably carry out element associated inspection.That is, being difficult to for comparing in element associated inspection if not focusing The element adsorption state inspection checked, is able to use left optical system 82b and right optical system 82c is suitably carried out.
In addition, ozzle camera 124 is integrated with head keeping body 21 via main body frame 90.Therefore, when being easy to shoot The positional relationship of head that keeps of ozzle camera 124 and head keeping body 21 ensure into appropriate, be easy to obtain suction nozzle image appropriate Data or ejection nozzle image data.More specifically, head keeping body 21 integrally moves on the direction XY with ozzle camera 124, because It is appropriate that this is easy to ensure into the suction nozzle 13 or ejection nozzle 14 of head with positional relationship of the ozzle camera 124 on the direction XY.In addition, The elevating mechanism (not shown) for going up and down a keeping body 21 keeps a keeping body 21 mobile.Thus, for example when applying bonding agent, peace When filling element and when ozzle camera 124 is shot, the position for the head for keeping ozzle camera 124 and head keeping body 21 can be passed through Relationship change etc. is set, and ozzle camera 124 and capitiform is made to become positional relationship appropriate corresponding with situation.In addition, shooting When only pass through and move up and down a keeping body 21, it will be able to so that head is moved to camera site appropriate.
In addition, the present invention is by any restriction of above embodiment, it, can as long as belonging to technical scope of the invention Implemented with various forms, this is self-evident.
For example, in the above-described embodiment, being set as middle optical system 82a for the suction nozzle 13 of suction nozzle position 13a and being contained in view Yezhong, but also can be set to and the suction nozzle 13 of suction nozzle position 13a is not contained in the visual field.Even if in this case, can also make Discharge association is carried out with middle optical system 82a to check.In addition, in this case, optical system in use in the present embodiment 82a and as long as the installation check of suction nozzle 13 carried out uses left optical system 82b and right optical system 82c to carry out.
In the above-described embodiment, it is set as optical system unit 80 and has middle optical system 82a, left optical system 82b, the right side Optical system 82c, but at least have middle optical system 82a.I.e., it is possible to which being set as optical system unit 80 does not have left light At least one party in system 82b and right optical system 82c.Even if not having left optical system 82b in optical system unit 80 And in the case where the side in right optical system 82c, also it is able to use another party and carries out element associated inspection.In addition, even if In the case that optical system unit 80 does not have left optical system 82b and right optical system 82c this two side, it is also able to use middle light System 82a carries out discharge association inspection and installation check.
In the above-described embodiment, middle optical system 82a, left optical system 82b, right optical system 82c is set as to share instead Mirror 86a is penetrated, but also can be set to and also share other reflecting mirrors or prism etc., the independence for the component not shared can also be set as Optical system.
In the above-described embodiment, acquirement will be based on via middle optical system 82a, left optical system 82b, right optical system Each image configurations of the light of 82c image data made of center, left side, right side, but can also be according to each optical system System obtains different image datas.For example, ozzle camera 124 can be set in middle entrance port 83a, left entrance port 83b, right incidence Mouth 83c has respectively by being opened and closed the shutter switched whether there is or not light.So, the optical system for wanting to obtain only is opened Shutter obtain image data, thus, it is possible to obtain the image of each optical system.
In the above-described embodiment, be set as CPU162 carry out ejection nozzle inspection, dropping liquid inspection, coating whether good inspection As discharge association check, as long as but carry out with ejection nozzle 14 and from the outlet of ejection nozzle 14 be discharged bonding agent in Few relevant inspection of a side, and it is without being limited thereto.For example, can whether good without ejection nozzle inspection, dropping liquid inspection, coating More than one inspection in good inspection, can also add other inspections.About the opportunity checked, it is also not limited to State the form of embodiment.
In the above-described embodiment, it is set as CPU162 and carries out installation check and element adsorption state inspection as element associated Check, as long as but carry out with the relevant inspection of at least one party in suction nozzle 13 and the element of the holding of suction nozzle 13, and it is unlimited In this.It checks alternatively, it is also possible to installation check and element adsorption state without replacing and carrying out other inspections.For example, As other inspections, the suction nozzle inspection for determining to be installed on the type of the suction nozzle 13 of adsorption head 120 can be carried out.Suction nozzle checks for example It can check that the bore (the left and right width in image data) identically based on suction nozzle 13 is carried out with ejection nozzle.Such inspection is excellent Choosing is carried out using the left optical system 82b or right optical system 82c that have focused in suction nozzle 13.Alternatively, Short Item can be carried out It checks, i.e., checks whether suction nozzle 13 by element takes back (Short Item) to by the suction nozzle 13 after element installation on the substrate 101.Short Item Checking can for example determine that the front end of suction nozzle 13 is carried out with the presence or absence of darker image identically as installation check.In addition, this The inspection of sample is carried out preferably with the left optical system 82b or right optical system 82c to have focused in suction nozzle 13, even if thus It is that lesser element is also able to carry out judgement.
In the above-described embodiment, as soon as be set as the every replacement suction nozzle 13 of a keeping body 21, CPU162 carries out installation inspection It looks into, but installation check can also be carried out after the replacement of whole suction nozzles 13 completion.In such a case it is possible to be not only by middle light System 82a is used for installation check, and left optical system 82b and right optical system 82c are also used for installation check, thus together The installation check of more suction nozzles 13 of Shi Jinhang.In addition, being set as CPU162 carries out element after whole suction nozzles 13 have adsorbed element Adsorbed state inspection, but element adsorption state inspection can also be carried out when suction nozzle 13 adsorbs an element.In this case, As long as being checked by the side in left optical system 82b and right optical system 82c.
In the above-described embodiment, head unit 110 can have the mechanism for moving up and down ozzle camera 124.Such one Come, by enabling ozzle camera 124 so that ozzle camera 124 is moved to camera site appropriate and moving up and down.
In the above-described embodiment, in suction nozzle image data and ejection nozzle image data, background becomes clear and reference object More secretly show, but not limited to this.For example, in image data, it can be that background is darker and reference object is bright.In the situation Under, the surface black etc. of background body 44 and background board 72 can be made, and reduce background body 44 and background board 72 surface can Depending on light reflectivity, and from light source 81 irradiate visible light and ozzle camera 124 is shot.
In the above-described embodiment, the suction nozzle 13 for being set as adsorption head 120, the ejection nozzle 14 that head 220 is discharged can dismount, but At least one party being also possible in suction nozzle 13 and ejection nozzle 14 is installed on head in a manner of it not can be removably mounted.
In the above-described embodiment, it is set as discharge head 220 and bonding agent is discharged, but be not limited to bonding agent, as long as discharge The viscous fluids such as solder or solder.In addition, being set as element fixing apparatus 100 has an adsorption head 120 and a discharge First 220, but there may also be a variety of (such as the quantity difference that can install ozzle) adsorption heads 120 or discharge heads 220.
Industrial availability
The present invention can be used in the member for applying viscous fluid on substrate or installing the element of holding on substrate The technical field of part mounting device.
Description of symbols
1 component mounting system, 12 suction nozzle brackets, 13 suction nozzles, 13a~13c suction nozzle position, 14 ejection nozzles, 21 keeping bodies, 22R axis, 24R shaft gear, 25R axis motor, 27Q shaft gear, 28Q axis motor, 31 engaging parts, 33 cylinder gears, 34 is small Gear, 36 matrixes, 37 connecting holes, 38 pressure supply mouths, 39 suction nozzle operating sticks, 40 springs, 44 background bodies, 61 clutch components, 62 clutch components, 70 main parts, 72 background boards, 74 background board operating sticks, 76,76 guiding grooves, 80 optical system units, 80a Upper cover, 81 light sources, optical system in 82a, the left optical system of 82b, the right optical system of 82c, entrance port in 83a, the left incidence of 83b Mouthful, the right entrance port 83c is covered in 84a, the left cover of 84b, the right cover of 84c, 85b, 85c prism, 86a~86c reflecting mirror, 90 main body frames, 92 support shafts, 94 camera main-bodies, 100 element fixing apparatus, 101 substrates, 102 base stations, 104 base board delivery devices, 106 supports Plate, 108 conveyer belts, 110 head units, 112X axis sliding part, 114 guide rails, 116Y axis sliding part, 118 guide rails, 120 adsorption heads, 124 ozzle cameras, 134 ozzle reservoirs, 140 accepting regions, 142 storage places, 150 tep reel units, 152 loaders, 154 Tep reel, 160 controllers, 162CPU, 164ROM, 166RAM, 168HDD, 200 management computers, 220 discharge heads, main part, pressure Power supply mouth.

Claims (7)

1. viscous fluid is applied or is installed the element kept on substrate, institute on substrate by a kind of element fixing apparatus Element fixing apparatus is stated to have:
Housing unit, stores the more than one head in a variety of heads, and a variety of heads include: to have that the element can be carried out Keep and release the mounting head of the component holding members kept, the row with the drain member that viscous fluid can be discharged from outlet Lift one's head；
Head holding unit, keeps the head in a manner of it can replace；
Head mobile unit keeps the head holding unit mobile；
Head replacement control unit, controls and the head for keeping the head holding unit and the receipts head mobile unit Thus the head replacement of unit of receiving storage makes the head of this holding unit holding from one in the mounting head and the discharge head Head is changed to another head；
Shooting unit shoots what the mounting head had from side in the case where the head holding unit keeps the mounting head The component holding members obtain component holding members image data, the case where the head holding unit keeps the discharge head Under, the drain member that the discharge head has is shot from side to obtain drain member image data；And
Inspection unit keep with the component holding members and the component holding members based on the component holding members image data Element in the relevant element associated inspection of at least one party, based on the drain member image data carry out with the drain member and It is checked from the relevant discharge association of at least one party in the viscous fluid that the outlet of the drain member is discharged.
2. element fixing apparatus according to claim 1, wherein
The inspection unit carry out include coating whether good inspections, dropping liquid inspection, drain member check in more than one examine The discharge including looking into, which is associated with, to be checked,
The whether good inspection of coating is based on institute after being coated with viscous fluid on the substrate from the drain member The drain member image data of shooting determines the coating to be detected to the viscous fluid for being present in the outlet Whether good inspection,
The dropping liquid inspection is based on the drain member picture number captured when applying viscous fluid not on the substrate According to come the inspection that determines whether the dropping liquid of the viscous fluid from the outlet,
The drain member inspection is the type for the drain member for determining that the discharge head has based on the drain member image data Whether correctly check.
3. element fixing apparatus according to claim 1, wherein
The mounting head can dismount the component holding members,
The shooting unit has the first optical system, and first optical system is adjusted to: being kept in the discharge head In the state of the head holding unit, the drain member having in the discharge head kept of focusing, and in the peace Dress head is held in the state of the head holding unit, makes the component holding members being installed in the mounting head kept Included in the visual field,
The inspection unit uses the drain member picture number captured by first optical system based on the shooting unit It is checked according to carry out the discharge association, the element captured by first optical system is used based on the shooting unit Holder image data carries out including checking whether the component holding members are installed on the installation check of the mounting head The element associated inspection.
4. element fixing apparatus according to claim 2, wherein
The mounting head can dismount the component holding members,
The shooting unit has the first optical system, and first optical system is adjusted to: being kept in the discharge head In the state of the head holding unit, the drain member having in the discharge head kept of focusing, and in the peace Dress head is held in the state of the head holding unit, makes the component holding members being installed in the mounting head kept Included in the visual field,
The inspection unit uses the drain member picture number captured by first optical system based on the shooting unit It is checked according to carry out the discharge association, the element captured by first optical system is used based on the shooting unit Holder image data carries out including checking whether the component holding members are installed on the installation check of the mounting head The element associated inspection.
5. element fixing apparatus according to any one of claims 1 to 4, wherein
The shooting unit includes the first optical system, is adjusted to, and is held in the head holding unit in the discharge head In the state of, the drain member having in the discharge head kept of focusing；And second optical system, it is adjusted to, in institute It states mounting head to be held in the state of the head holding unit, the element that focusing has in the mounting head kept is protected Gripping member,
The inspection unit uses the drain member picture number captured by first optical system based on the shooting unit It is checked according to carry out the discharge association, the element captured by second optical system is used based on the shooting unit Holder image data carries out the element associated inspection.
6. element fixing apparatus according to any one of claims 1 to 4, wherein
The mounting head can dismount multiple component holding members,
The shooting unit includes the first optical system, is adjusted to, and is held in the head holding unit in the discharge head In the state of, the drain member that has in the discharge head kept of focusing, and be held in the mounting head described In the state of head holding unit, the component holding members for the first position being installed in the mounting head kept is made to be included in the visual field In；Second optical system, is adjusted to, and in the state that the mounting head is held in the head holding unit, focuses in position The component holding members of the second positions different from the first position in the mounting head kept,
The inspection unit uses the drain member picture number captured by first optical system based on the shooting unit It is checked according to carry out the discharge association, the element captured by first optical system is used based on the shooting unit Holder image data includes checking whether be equipped with the installation check of the component holding members in the first position to carry out The element associated inspection inside is protected based on the shooting unit using the element captured by second optical system Gripping member image data includes that check relevant to the element that the component holding members positioned at the second position are kept exists to carry out The interior element associated inspection.
7. element fixing apparatus according to any one of claims 1 to 4, wherein
The shooting unit is integrated with the head holding unit.
CN201380080868.0A 2013-11-11 2013-11-11 Element fixing apparatus Active CN105706545B (en)

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PCT/JP2013/080437 WO2015068305A1 (en) 2013-11-11 2013-11-11 Component mounting device

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JP6199987B2 (en) 2017-09-20
US20160302336A1 (en) 2016-10-13
EP3071007B1 (en) 2018-06-06
EP3071007A1 (en) 2016-09-21
JPWO2015068305A1 (en) 2017-03-09
EP3071007A4 (en) 2017-06-14
CN105706545A (en) 2016-06-22
WO2015068305A1 (en) 2015-05-14
US9642295B2 (en) 2017-05-02

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